Design of Navigation System for the Inspection Robot in Unattended Operation Substation

摘要

The navigation and positioning system is the key technology for the robot in the unattended substation to inspect equipments. Therefore, the author makes up the hardware system, which consists of the fiber optic-gyro (FOG), odometric, accelerometer, DGPS receiver and the navigation computer. Also, the software of this integrated navigation and orientation system is designed based on the differential GPS (DGPS) and Dead Reckoning (DR) principle, the system adopts the method of the self-north-seeker and switching-integrated navigation. The method is simple and trustiness, meanwhile, the system has good practicability. Finally, the experiments were done, and the results indicate that the inspection robot with this navigation system walks continuously and accurately in the unattended operation substation.